TY - GEN
T1 - Discrete-Time Integral Sliding Mode Control for Brain-Controlled Mobile Robots
AU - Li, Hongqi
AU - Bi, Luzheng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9/28
Y1 - 2020/9/28
N2 - In this paper, a discrete-Time integral sliding mode control algorithm, DISMC in short, is designed for robust control of brain-controlled mobile robot systems. A novel discrete-Time integral sliding manifold with elimination of the reaching phase for sliding mode is employed to track the desired velocities while compensating for the disturbances and uncertainties. Semi-physical simulation results show the effectiveness and robustness of the proposed DISMC. It is also shown that the proposed controller can achieve better tracking performance compared to the PID control under different disturbance conditions.
AB - In this paper, a discrete-Time integral sliding mode control algorithm, DISMC in short, is designed for robust control of brain-controlled mobile robot systems. A novel discrete-Time integral sliding manifold with elimination of the reaching phase for sliding mode is employed to track the desired velocities while compensating for the disturbances and uncertainties. Semi-physical simulation results show the effectiveness and robustness of the proposed DISMC. It is also shown that the proposed controller can achieve better tracking performance compared to the PID control under different disturbance conditions.
UR - http://www.scopus.com/inward/record.url?scp=85099332455&partnerID=8YFLogxK
U2 - 10.1109/RCAR49640.2020.9303295
DO - 10.1109/RCAR49640.2020.9303295
M3 - Conference contribution
AN - SCOPUS:85099332455
T3 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
SP - 239
EP - 244
BT - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Y2 - 28 September 2020 through 29 September 2020
ER -